// --------------------------------------------------------------------------------------------------------------------
// <copyright file="KinectObjectDetectorSequencer.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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namespace Microsoft.Robotics.Vision.ObjectDetection
{
    using System;
    using Microsoft.Robotics.FiniteStateMachine;
    using Microsoft.Robotics.Vision;
    using Microsoft.Robotics.Vision.Cameras;

    /// <summary>
    /// FSM derived sequencer for synchronizing IR and depth images from
    /// a kinect. Note this FSM assumes a kinect for windows camera
    /// </summary>
    public class KinectObjectDetectorSequencer : Machine<KinectObjectDetectorContext, KinectObjectDetectorContext, KinectObjectDetectorContext>
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="KinectObjectDetectorSequencer" /> class
        /// </summary>
        /// <param name="context">State machine context</param>
        public KinectObjectDetectorSequencer(
            KinectObjectDetectorContext context)
        {
            this.Context = context;

            State<KinectObjectDetectorContext> idle = new State<KinectObjectDetectorContext>("Idle state");
            State<KinectObjectDetectorContext> runObjectDetection = new State<KinectObjectDetectorContext>("Run object detection", c => { c.RunObjectDetection(); return c; });
            State<KinectObjectDetectorContext> postDetectionResult = new State<KinectObjectDetectorContext>(
                "Post object detection results", 
                c => 
                {
                    this.Context.PostDetectionResult();
                    return c; 
                });

            idle.AddTransition(t => t.IsReadyForImages && (t.LatestFrameOriginatingTime > t.LastDetectionPostTime), runObjectDetection);
            runObjectDetection.AddTransition(t => true, postDetectionResult);
            postDetectionResult.AddTransition(t => true, idle);

            this.Initialize(this.Context, idle);
        }

        /// <summary>
        /// Steps the state machine
        /// </summary>
        public void Step()
        {
            this.Update(this.Context);
        }

        /// <summary>
        /// String representation for debugging and testing.
        /// </summary>
        /// <returns>String representation.</returns>
        public override string ToString()
        {
            return string.Format("State:{0}", this.State);
        }
    }
}
